Sensing-Communication-Computing-Control Closed Loop for NOMA-UAV Systems

In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.

Recent developments on applications of sequential loop closing and diagonal dominance control schemes to industrial multivariable system

With a focus on an industrial multivariable system, two subsystems including the flow and the level outputs are analysed and controlled, which have applicability in both real and academic environments. In such a case, at first, each subsystem is distinctively represented by its model, since the outcomes point out that the chosen models have the same behavior as corresponding ones. Then, the industrial multivariable system and its presentation are achieved in line with the integration of these subsystems, since the interaction between them can not actually be ignored. To analyze the interaction presented, the Gershgorin bands need to be acquired, where the results are used to modify the system parameters to appropriate values. Subsequently, in the view of modeling results, the control concept in two different techniques including sequential loop closing control(SLCC) scheme and diagonal dominance control(DDC) schemes is proposed to implement on the system through the Profibus network, as long as the OPC(OLE for process control) server is utilized to communicate between the control schemes presented and the multivariable system. The real test scenarios are carried out and the corresponding outcomes in their present forms are acquired. In the same way, the proposed control schemes results are compared with each other, where the real consequences verify the validity of them in the field of the presented industrial multivariable system control.

Parameter Design of Current Double Closed Loop for T-Type Three-Level Grid-Connected Inverter

To reduce current harmonics caused by switching frequency,T-type grid-connected inverter topology with LCL filter is adopted.In view of the disadvantages of the slow response speed of the traditional current control and the failure to eliminate the influence of the LCL filter on the grid-connected current by using current PI control alone,a current double closed loop PI current tracking control is proposed.Through the theoretical analysis of the grid-connected inverter control principle,the grid-connected inverter control model is designed,and the transfer functionmodel of each control link is deduced,and the current loop PI regulator is designed at last.The simulation results show that the control strategy is feasible.

Artificial intelligence powered glucose monitoring and controlling system:Pumping module

BACKGROUND Diabetes,a globally escalating health concern,necessitates innovative solutions for efficient detection and management.Blood glucose control is an essential aspect of managing diabetes and finding the most effective ways to control it.The latest findings suggest that a basal insulin administration rate and a single,highconcentration injection before a meal may not be sufficient to maintain healthy blood glucose levels.While the basal insulin rate treatment can stabilize blood glucose levels over the long term,it may not be enough to bring the levels below the post-meal limit after 60 min.The short-term impacts of meals can be greatly reduced by high-concentration injections,which can help stabilize blood glucose levels.Unfortunately,they cannot provide long-term stability to satisfy the postmeal or pre-meal restrictions.However,proportional-integral-derivative(PID)control with basal dose maintains the blood glucose levels within the range for a longer period.AIM To develop a closed-loop electronic system to pump required insulin into the patient's body automatically in synchronization with glucose sensor readings.METHODS The proposed system integrates a glucose sensor,decision unit,and pumping module to specifically address the pumping of insulin and enhance system effectiveness.Serving as the intelligence hub,the decision unit analyzes data from the glucose sensor to determine the optimal insulin dosage,guided by a pre-existing glucose and insulin level table.The artificial intelligence detection block processes this information,providing decision instructions to the pumping module.Equipped with communication antennas,the glucose sensor and micropump operate in a feedback loop,creating a closed-loop system that eliminates the need for manual intervention.RESULTS The incorporation of a PID controller to assess and regulate blood glucose and insulin levels in individuals with diabetes introduces a sophisticated and dynamic element to diabetes management.The simulation not only allows visualization of how the body responds to different inputs but also offers a valuable tool for predicting and testing the effects of various interventions over time.The PID controller's role in adjusting insulin dosage based on the discrepancy between desired setpoints and actual measurements showcases a proactive strategy for maintaining blood glucose levels within a healthy range.This dynamic feedback loop not only delays the onset of steady-state conditions but also effectively counteracts post-meal spikes in blood glucose.CONCLUSION The WiFi-controlled voltage controller and the PID controller simulation collectively underscore the ongoing efforts to enhance efficiency,safety,and personalized care within the realm of diabetes management.These technological advancements not only contribute to the optimization of insulin delivery systems but also have the potential to reshape our understanding of glucose and insulin dynamics,fostering a new era of precision medicine in the treatment of diabetes.

Accuracy Compensation Technology of Closed⁃Loop Feedback of Industrial Robot Joints

The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.

Phase-dependent inversionless gain in a four-level atomic system with a closed interaction loop

A four-level atomic system with a closed interaction loop connected by two coherent driving fields and a microwave field is investigated. The results show that inversionless gain can be achieved on a higher frequency transition outside the closed interaction loop, and the gain behaviour can be modulated by the phase of the closed loop as well as the amplitude of the microwave field. The phase sensitivity property in such a scheme is similar to that in an analogous configuration with spontaneously generated coherence, but it is beyond the rigorous condition of near-degenerate levels with non-orthogonal dipole moments. Therefore this scheme is much more convenient in experimental realization.

Visual Study on Flow and Operational Characteristics of Flat Plate Closed Loop Pulsating Heat Pipes

This paper presents an experimental study including visualization on a flat plate closed loop pulsating heat pipes.It consists of a total of 40 channels with square cross section(2 mm×2 mm,165 mm long) machined directly on an aluminum plate(180 mm×120 mm×3 mm) covered by a transparent plate.The working fluid employed is ethanol.As a result,various flow patterns and their transitions are observed and found to be related to the fluid fill ratio,input heat load and the device orientation.Also the operational characteristics and working mechanism are discussed.

Experiment investigation on visualization and operating characteristics of closed loop plate oscillating heat pipe with parallel channels

Using ethanol or acetone as the working fluid, visualization of oscillations in steady state was observed visually by high-speed cameras, and temperature oscillating and heat transfer characteristics of closed-loop plate oscillating heat pipe with parallel channels(POHP-PC) were experimentally investigated by varying liquid filled ratios(50%, 70%, 85%), section scales(1 mm×1 mm and 1 mm×1.5 mm), inclination angles, working fluids and heating inputs. It was found that during operating there was mixed flow consisting of plug flow and annular flow in channels of oscillating heat pipe at steady-state. There was an equilibrium position for working fluid of condenser during oscillating, and periodic oscillations occurred up and down in the vicinity of equilibrium position. With heat input increasing, equilibrium position rose slowly as a result of vapor pressure of evaporation.Evaporation temperature oscillating amplitude possessed a trend of small-large-small and frequency trend was of small-large during steady-state. It may be generally concluded that temperature, whether evaporator or condenser, fluctuated sharply or rose continuously when oscillating heat pipe coming to dry burning state. Simultaneously, it was found that temperature difference of cooling water possibly dropped with heat input rising during dry burning state. Thermal resistance of No. 2 with acetone was lower than that of No. 1 during experiments, but No. 2 achieving heat transfer limit was earlier than No. 1. However, with ethanol, thermal resistance of No. 1 and No. 2 were similar with the heating input less than 110-120 W and filling ratios of 50% and 70%. And with filling ratio of 85%, heating transfer performance of No. 2 was better compared to No. 1 during all the experiments.

Parametric Influence on Thermal Performance of Flat Plate Closed Loop Pulsating Heat Pipes

This paper presents an experimental study on a flat plate closed loop pulsating heat pipes. It consisted of total 40 channels with square cross section （2 × 2 mm^2, 165 mm long） machined directly on an aluminum plate（180×120×3 nm^2）, which was covered by a transparent plate. The working fluid employed was ethanol. As the results, the influence parameters of thermal performance were investigated, such as filling ratio, heat load and operational orientations etc. Filling ratio was found to be a critical parameter, and its effect was rather complicated. According to its values the PHP plate could have four distinct working zones with different operational characteristics and heat transfer performance. The effect of heat load on thermal performance was found to be positive, and in general, iucrcasing the heat load would improve heat transfer performance. In order to analyze the effect of gravity on thermal performance, three different heat modes and total seven tilt angles were tested and compared. Successful operation at all orientations with respect to gravity was also achieved.

Method of closed loop springback compensation for incremental sheet forming process

The closed loop control model was built up for compensating the springback and enhancing the work piece precision.A coupled closed loop algorithm and a finite element method were developed to simulate and correct the springback of incremental sheet forming.A three-dimensional finite element model was established for simulation of springback in incremental sheet forming process.The closed loop algorithm of trajectory profile for the incremental sheet forming based on the wavelet transform combined with fast Fourier transform was constructed.The profile of processing tool path of shallow dishing with spherical surface was designed on the basis of the profile correction algorithm.The result shows that the algorithm can predict an ideal profile of processing track,and the springback error of incremental sheet forming is eliminated effectively.It has good convergence efficiency,and can improve the workpiece dimensional accuracy greatly.

Synthesis identification analysis for closed loop system

The existing theories for closed loop identification with the linear feedback controller are very mature.To apply the existed theories directly in the control field,we propose a new idea about replacing the original unknown and nonlinear feedback controller with one approximated linear controller,while guaranteeing the equivalent property for the obtained closed loop system.Based on some statistical correlation functions,one condition is derived to show the equivalent property between the approximated linear controller and the original nonlinear controller.The detailed explicit form,corresponding to the approximated linear controller,is also constructed.Furthermore,to give a complete analysis for closed loop identification,the cost function is rewritten as one extended expression,being convenient to understand.Then spectral estimation is introduced to identify the unknown plant in the closed loop system.Finally,the proposed theories are verified by one simulation example.

Study on a Closed-Loop Air-Fuel Control System of Gasoline Engines by Simulation

In order to study the factors that influence the air fuel ratio(A/F), the amplitude and frequency of A/F fluctuation, to reform the control strategy, and to improve the efficiency of three way catalyst(TWC), a model of closed loop control system including the engine, air fuel mixing and transportation, oxygen sensor and controller, etc., is developed. Various factors that influence the A/F control are studied by simulation. The simulation results show that the reference voltage of oxygen sensor will influence the mean value of A/F ratio, the controller parameters will influence the amplitude of A/F fluctuation, and the operating conditions of the engine determine the frequency of A/F fluctuations, the amplitude of A/F fluctuation can be reduced to within demanded values by logical selection of the signal acquisition method and controller parameters. Higher A/F fluctuation frequency under high speed and load can be reduced through software delay in the controller. The A/F closed loop control system based on the simulation results, accompanied with a rare earth element TWC, gives a better efficiency of conversion against harmful emissions.

Control of Spiral Waves in an Excitable Medium by Applying Close Loop Feedback Scheme

In this paper, a scheme of close-loop feedback is proposed to induce transition of spiral pattern in the excitable media, which is described with the modified FitzHugh-Nagumo model. The numerical simulation results confirm that the stable rotating spiral wave is removed and the whole media becomes homogeneous when appropriate intensity of feedback is used no matter whether the coupling feedback is imposed on the whole media or the sites in one line in the media.

A double closed loop APFC control with feed-forward

In order to improve the steady state performance,dynamic response and power factor of traditional power factor correction(PFC)digital control method and reduce the harmonic distortion of input current,a double closed loop active power factorcorrection(APFC)control method with feed-forward is proposed.Firstly,the small signal model of Boost PFC control systemis built and the system transfer function is deduced,and then the parameters of the main device with Boost topology is estimated.By means of the feed-forward,the system can quickly respond to the change in input voltage.Furthermore,the use ofvoltage loop and current loop can achieve input current and output voltage regulation Simulink modeling shows that this methodcan effectively control the output voltage in case of input voltage largely fluctuating,improve the system dynamic response abilityand input power factor,and reduce the input current harmonic distortion

Study the closed loop management system for the coal mines based on risk management

In recent years, the coal safety has been become the urgent problem in China,and severe and fatal coal mine accidents occurred frequently.Must pay attention to coal safety management immediately, because the coal mine accidents not only caused serious economic losses to the country and people but also had negative impact on the society and politics.A closed loop management system was put forward to build to improve the coal safety management.The closed loop management system was formed four parts,identifying the hazard sources, classifying the hidden troubles hazard sources, the risk prealarm and risk control, and the evaluation system.

Two-Phase Flow Modeling in a Single Closed Loop Pulsating Heat Pipes

Mathematical modeling of pulsating heat pipes through ‘first’ principles is a contemporary problem which remains quite elusive. Simplifications and assumptions made in all the modeling approaches developed so far render them unsuitable for engineering design. In this paper, a more realistic modeling scheme is presented which provides considerable try for thought toward the next progressive step. At high enough heat flux level, closed loop pulsating heat pipes experience a bulk internal unidirectional fluid circulation. Under such a condition, conventional two-phase flow modeling in capillary tubes may be applied. This has been attempted for single-loop PHPs. A homogeneous model and a separated two-fluid flow model based on simultaneous conservation of mass, momentum and energy, have been developed for an equivalent ‘open flow’ system. The model allows prediction of two-phase flow parameters in each sub-section of the device thereby providing important insights into its operation. The concept of ‘void fraction constraint’ in pulsating heat pipe operation is introduced and its relevance to future modeling attempts is outlined.

PERFORMANCE OF CLOSED LOOP TRANSMIT DIVERSITY IN A RAYLEIGH FADING CHANNEL

In this paper, the closed loop transmit diversity technology for the Wideband Code Division Multiple Access(WCDMA) systems is investigated in a multipath Rayleigh fading channel. The RAKE receiver model and the weighing vector algorithm are presented. The performance is theoretically analyzed in terms of the average maximal Signal-to-Noise Ratio(SNR) gain available over the Space-Time block coding based Transmit Diversity(STTD) technology. Theoretic analysis and simulation results show that the closed loop transmit diversity can provide a 3dB performance gain over the open loop scheme in a single path fading channel, while the performance gain decreases dramatically with the increasing inherent multipath diversity of the wireless channel.

Closed Loop Hydraulic System and Its Effect on Actuator Design

Hydraulic systems provide a clean and stable supply of hydraulic fluid for subsea valves and actuators installed on the subsea bed in subsea production systems.Subsea control systems are used for contemporary subsea fields instead of installing the control system on topside.Although all-electric subsea systems are state-of-the-art with benefits such as health,safety,and environment improvement,as well as efficiency and lower cost,hydraulic systems are still used for the development of many subsea fields.One of the main questions in the selection of a subsea hydraulic field is whether to choose an open or closed loop hydraulic system.The main characteristic of an open loop hydraulic system is that the hydraulic fluid is discharged into the marine environment during the actuation of the subsea valves.Conversely,the hydraulic fluid is returned to the topside facilities through an umbilical system in a closed loop system.Given that closed loop systems are more eco-friendly,the main question in this research is to examine the effect of the actuator connection of the closed loop system on actuator design.Two cases of actuated valves connected to a closed loop system are analyzed in this paper.The first is a 71/16-in.subsea slab gate valve in the pressure class of 517 bar with a linear spring return fail-safe close(FSC)actuator located on a manifold branch.The data indicates that the piston rod and cylinder diameter of the FSC linear actuator should be increased by some millimeters due to the accumulation of hydraulic oil at the bottom of the actuator.The hydraulic oil in the closed loop system helps in closing the actuator and spring force,so the spring constant and torque should be reduced as a result.The second case involves a 16-in.subsea ball valve in the pressure class of 517 bar with a double-acting fail-as-is rack and pinion actuator.The conclusion in this case is to avoid making any change in the design of double-acting actuator in connection to the closed loop system.

Method with reliable accuracy and fast speed for measuring operational current of HTS NI closed-loop coils in steady persistent-current-mode

This study proposes a method for measuring the operational current of high temperature superconducting(HTS)non‐insulation(NI)closed‐loop coils,which operate in the steady persistent‐current‐mode(PCM).HTS NI closed‐loop coils are promising for many easily‐quenching direct‐current(DC)applications,where their performance is determined by magnetomotive forces,total number of turns,and dimensions.As the primary interface parameter in an application system,the operational current must be accurately and rapidly measured.Generally,this is achieved by dividing the measured magnetic field by the coil constant.However,even if the influence of the screening current induced field(SCIF)is not considered,existing methods for the coil constant may be disturbed by the performance and location of Hall sensors,or experience a long measuring period.Therefore,a relatively accurate and fast method is proposed in this study,which is based on adjusting the output current of the adjustable power supply and monitoring the coil voltage as an indicator.The proposed method was validated through experiments and simulations using an equivalent circuit model coupled with a finite element method(FEM)model,and its current accuracy can be equivalent to the resolution of the employed power supply.It was demonstrated that this method reduced the requirements for Hall sensor’s performance and location,and has a more reliable accuracy in contrast to the simulation method.Compared to the experimentally conventional method,the proposed method presents a significantly faster speed.The impact of the SCIF was considered and proven to be negligible for the tested pancake coils.Even for coils whose coil constant vibrates owing to the SCIF,this method can be adapted to directly measure various operational currents.Furthermore,it was demonstrated that the measurement error can be influenced by the current discrepancy among turns when the coil is not in the steady PCM,and a procedure for reducing this error was proposed.

Adaptive Backstepping Tracking Control of a 6-DOF Unmanned Helicopter

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.